Title :
A Multi-Sensor System for Optical Precise Assembly
Author :
Ma, Li ; Rong, Weibin ; Sun, Lining ; Wang, Lefeng ; Shen, Yang
Author_Institution :
Robotics Inst., Harbin Inst. of Technol.
Abstract :
This paper presents a multi-sensor system for optical precise assembly. The system utilizes macro-micro robot for high precision assembly, which consists of a 6-DOF parallel robot for coarse positioning, a 5-DOF stage driven by piezoelectric actuators for fine positioning, a gripper, a multi-sensor system, and an optical system. Mechanism design and control system design of the coarse-fine positioning stage are discussed. In order to achieve high precision in optical assembly, a multi-sensor control system is established, which includes a micro displacement detecting module, a signal analyzing module, a vision module, and a force sensor. Some control algorithms for image recognition and signal analysis are proposed, which can monitor the optical assembly in real-time. The experimental results validate the feasibility of the optical precise assembly system
Keywords :
grippers; image recognition; microrobots; optoelectronic devices; piezoelectric actuators; position control; robotic assembly; sensor fusion; 6-DOF parallel robot; coarse-fine positioning; image recognition; macro-micro robot; multi-sensor control system; optical precise assembly; piezoelectric actuators; signal analysis; Assembly systems; Control systems; Grippers; Optical control; Optical sensors; Parallel robots; Piezoelectric actuators; Robotic assembly; Signal analysis; System analysis and design; Coarse-Fine positioning; Multi-Sensor; Precise assembly;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257805
